9387

8669

كارشناسي ارشد

مكانيك- طراحي كاربردي

اصفهان: دانشگاه صنعتي اصفهان، دانشكده مكانيك

1393

شانزده،96ص.: مصور،نمودار

ص.ع.به فارسي و انگليسي

محمدجعفر صديق

محمدتقي كريمي

1/10/93

حسن موسوي، حسن نحوي، شهرام هاديان جزي

مهندسي مكانيك

ID8669

97 Design of Active Control System for Stance Stabilizing of Spinal Cord Injury in Sagittal Plane Based on Upper Body Motion Strategy Mojtaba Dolatkhah m dolatkhah@ec iut ac ir Date of Submission 2014 11 11 Department of Mechanical Engineering Isfahan University of Technology Isfahan 84156 83111 Iran Degree M Sc Language Farsi Supervisor Mohammad Jafar Sadigh jafars@cc iut ac irAbstract In recent years several studies have been done in order to improve standing power and gait performancein Spinal Cord Injury SCI patients SCI patients can regain their standing power and gait ability withorthopedics tools that called Orthosis these tools are divided into two groups passive and active orthosis Thesetools can provide necessary support for these patients which depend on the level of spinal damage in this thesisfirst a passive Hip Knee Ankle Foot Orthosis HKAFO has been studied then the improvement of standingperformance in hands free mode without using Canes and crutches is discussed To achieve stability in ahands free stand mode patients can lean to upper section of orthosis TLSO and restore its own stability In thisstanding posture patients are inclined to TLSO that called C posture Comparing the way of standing in SCIpatient with healthy person and the limitations of SCI patients to use its own hands it can be inferred that thisway of standing is not proper To maintain the correct position standing it is necessary to upper body alignmentin a similar manner of healthy person In order to achieve this goal installation of the actuator on the Orthosiship was evaluated to help the patient stand in the correct mode and by the usage of upper body movementpatient can restore the stability mode For the installation of actuator the person with Orthosis is modeled infour linked three link lower limb and a single link upper body with hands serial system With the kinematicconstraint considered for the feet standing sustainability and stability torque limitations applied to the upperbody in order to obtain the stability and suitability was calculated For optimization operation of actuator theappropriate location of hip was calculated and according to the result the fixed angle of lower limbs Orthosisand the equilibrium point center of upper body has been resulted In order to achieve sustainability and stabilityof upper body two controllers had been designed and by using simulation analysis their performance wasstudied At the end the five link Orthosis and the SCI patient which the lower limbs was fixed with Orthosis andreduced to two degree freedom model Otherwise with the simulation model operative of controllers andactuators for stability establishment in known movements of hand had been studied Keywords Spinal cord injury orthosis quiet standing dynamic standing stability

محمدجعفر صديق

محمدتقي كريمي

حسن موسوي، حسن نحوي، شهرام هاديان جزي